/PROG  TL2_DROP
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL2 DROP";
PROG_SIZE	= 1214;
CREATE		= DATE 12-04-21  TIME 10:59:48;
MODIFIED	= DATE 18-11-08  TIME 16:45:14;
FILE_NAME	= TL1_DROP;
VERSION		= 0;
LINE_COUNT	= 23;
MEMORY_SIZE	= 1626;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[26:TOOL #2]=OFF    ;
   6:J P[3:CLEAR] 80% CNT50    ;
   7:  OVERRIDE=50% ;
   8:L P[4:APPROACH] 600mm/sec CNT30 ACC70    ;
   9:  WAIT DI[26:TOOL #2]=OFF    ;
  10:L P[5:APPROACH] 300mm/sec CNT50    ;
  11:L P[6:APPROACH] 200mm/sec FINE    ;
  12:L P[7:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=ON    ;
  13:  DO[21:TOOL2 POS]=ON ;
  14:  DO[13:REQ ATC CHUCK]=OFF ;
  15:  DO[14:REQ ATC UNCHUCK]=ON ;
  16:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  17:  WAIT   1.00(sec) ;
  18:  DO[14:REQ ATC UNCHUCK]=OFF ;
  19:L P[8:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=OFF    ;
  20:L P[9:APPROACH] 300mm/sec CNT50    ;
  21:L P[10:APPROACH] 300mm/sec CNT50    ;
  22:L P[3:CLEAR] 600mm/sec CNT50 ACC70    ;
  23:  MOVE TO HOME    ;
/POS
P[3:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=     8.966 deg,	J2=   -30.681 deg,	J3=    65.756 deg,
	J4=      .000 deg,	J5=   -65.755 deg,	J6=   261.001 deg,
	E1=    14.706 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -20.857 deg,	J2=   -19.231 deg,	J3=    74.871 deg,
	J4=   -83.982 deg,	J5=  -110.009 deg,	J6=   286.253 deg,
	E1=    15.815 deg
};
P[5:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3282.189  mm,	Y =  -601.048  mm,	Z = -1330.288  mm,
	W =   -90.695 deg,	P =    88.498 deg,	R =     -.376 deg,
	E1=    14.505 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3282.188  mm,	Y =  -455.368  mm,	Z = -1330.288  mm,
	W =   -90.695 deg,	P =    88.498 deg,	R =     -.376 deg,
	E1=    14.505 deg
};
P[7:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3282.188  mm,	Y =  -455.368  mm,	Z = -1419.805  mm,
	W =   -90.695 deg,	P =    88.498 deg,	R =     -.375 deg,
	E1=    14.505 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3282.334  mm,	Y =  -617.729  mm,	Z = -1418.552  mm,
	W =   -73.812 deg,	P =    88.424 deg,	R =    16.507 deg,
	E1=    14.505 deg
};
P[9:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3282.000  mm,	Y =  -617.000  mm,	Z = -1263.000  mm,
	W =   179.425 deg,	P =    89.576 deg,	R =   -90.576 deg,
	E1=    15.275 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -19.829 deg,	J2=   -24.817 deg,	J3=    77.300 deg,
	J4=   -85.042 deg,	J5=  -109.226 deg,	J6=   283.608 deg,
	E1=    15.815 deg
};
/END
